Skip to content

Commit

Permalink
Don't use actuator_moment in lqr_solver.py
Browse files Browse the repository at this point in the history
PiperOrigin-RevId: 692141608
Change-Id: I852624640304be8211d07a52dcf7f3aa7c92a29f
  • Loading branch information
yuvaltassa authored and copybara-github committed Nov 1, 2024
1 parent 8eb70f8 commit 8358f6d
Showing 1 changed file with 1 addition and 1 deletion.
2 changes: 1 addition & 1 deletion dm_control/suite/lqr_solver.py
Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,7 @@ def solve(env):
(dt * j + np.hstack((np.zeros((n, n)), np.eye(n))), j))

# Control transition matrix b.
b = env.physics.data.actuator_moment.T
b = np.vstack((np.eye(m), np.zeros((n - m, m))))
bc = np.linalg.solve(mass, b)
b = dt * np.vstack((dt * bc, bc))

Expand Down

0 comments on commit 8358f6d

Please sign in to comment.